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A parameter identification approach using optimal exciting trajectories for a class of industrial robots

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Abstract

In this paper, the problem of finding optimal exciting trajectories for parameter identification of industrial robots is investigated. A cost function of maximizing the minimum singular value of a recursive matrix is used in the optimization procedure. The optimal exciting trajectories obtained is insensitive with respect to the parameter perturbation. The identification accuracy and convergence speed or parameters is improved.

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References

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Authors and Affiliations

  1. CRP-HT, 6 rue Coudenhove-Kalergi, L-1359 Luxembuorg-Kirchberg, Luxembourg, Belgium

    J. Schaefers & S. J. Xu

  2. LARAL CRAN CNRS UA-821, 186 rue de Lorraine, 54400, Cosnes-et-Romain, France

    S. J. Xu & M. Darouach

Authors
  1. J. Schaefers
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  2. S. J. Xu
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  3. M. Darouach
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Schaefers, J., Xu, S.J. & Darouach, M. A parameter identification approach using optimal exciting trajectories for a class of industrial robots. J Intell Robot Syst 15, 25–32 (1996). https://doi.org/10.1007/BF00435724

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  • DOI: https://doi.org/10.1007/BF00435724

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